Added Zeroing Estimator for the column
Change-Id: I0c9dc557d91ed62f48d8ab6a9a20d2508e362b82
diff --git a/y2017/control_loops/superstructure/column/BUILD b/y2017/control_loops/superstructure/column/BUILD
new file mode 100644
index 0000000..5a79dbc
--- /dev/null
+++ b/y2017/control_loops/superstructure/column/BUILD
@@ -0,0 +1,64 @@
+genrule(
+ name = 'genrule_column',
+ cmd = '$(location //y2017/control_loops/python:column) $(OUTS)',
+ tools = [
+ '//y2017/control_loops/python:column',
+ ],
+ outs = [
+ 'column_plant.h',
+ 'column_plant.cc',
+ 'column_integral_plant.h',
+ 'column_integral_plant.cc',
+ 'stuck_column_integral_plant.cc',
+ 'stuck_column_integral_plant.h',
+ ],
+)
+
+cc_library(
+ name = 'column_plants',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'column_plant.cc',
+ 'column_integral_plant.cc',
+ ],
+ hdrs = [
+ 'column_plant.h',
+ 'column_integral_plant.h',
+ ],
+ deps = [
+ '//frc971/control_loops:state_feedback_loop',
+ ],
+)
+
+cc_library(
+ name = 'column_zeroing',
+ srcs = [
+ 'column_zeroing.cc',
+ ],
+ hdrs = [
+ 'column_zeroing.h',
+ ],
+ deps = [
+ '//frc971/control_loops:queues',
+ '//frc971/zeroing:wrap',
+ '//frc971/zeroing:zeroing',
+ '//frc971:constants',
+ '//y2017/control_loops/superstructure:superstructure_queue',
+ '//y2017:constants',
+ ],
+)
+
+cc_test(
+ name = 'column_zeroing_test',
+ srcs = [
+ 'column_zeroing_test.cc',
+ ],
+ deps = [
+ ':column_zeroing',
+ '//aos/testing:test_shm',
+ '//frc971/control_loops:position_sensor_sim',
+ '//frc971/control_loops:team_number_test_environment',
+ '//y2017/control_loops/superstructure:superstructure_queue',
+ '//y2017:constants',
+ ],
+)